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检索条件"机构=Center for technologies in Robotics and Mechatronics components"

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Customizable and Flexible Pressure Sensor Matrix 5

Customizable and Flexible Pressure Sensor Matrix

引用

5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Antipov, Vladimir Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Lobachevsky University Nizhny Novgorod Russia

ISBN: (纸本)9781665442824

The paper presents a method of creating and manufacturing customizable, deformable pressure sensor matrix. The purpose of the development is creating and implementing a variety of matrix sensors with integrated electronics and software to determine the distributed pressure on different types of surfaces, as well as further use of this sensor in medical, robotics and sports. Experimental studies of the individual components and the overall sensor error were conducted. As a result of the work, the developed experimental sample was investigated, a flexible metallized base for the new sensor was developed, and also the board of onboard electronics for processing of the sensor matrix was designed and manufactured. © 2021 IEEE

关键词： Pressure sensors

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Time of Single-Pulse TMS Delivery During Cognitive Task Affects Subject's Reaction Time

Time of Single-Pulse TMS Delivery During Cognitive Task Affe...

引用

Neurotechnologies and Neurointerfaces (CNN), International Conference

作者： Anna Udoratina Nikita Grigorev Andrey Savosenkov Denis Ermolaev Vladimir Maksimenko Susanna Gordleeva Neurotechnology Department Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia ANO Neimark Nizhny Novgorod Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9798350390926

ISBN: (纸本)9798350390933

In the present study, we investigated the effect of single-pulse TMS on sensorimotor integration (SI). Real and sham TMS was delivered while a subject performed a cognitive task to 6 areas of the cortex responsible for the motor component of SI, 200 ms or 800 ms after the presentation of visual stimuli. Here we show that the time of single-pulse TMS delivery affects the subject's reaction time (RT). RT was significantly slower (p <0.001) when stimulation occurred 800 ms after the presentation of the visual stimuli of the cognitive task regardless of the stimulation type.

关键词： Visualization Correlation Neural circuits Decision making Motors Brain modeling Electroencephalography Timing Integrated circuit modeling Neurotechnology

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Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)

Path Planning Followed by Kinodynamic Smoothing for Multirot...

引用

2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Kulathunga, Geesara Devitt, Dmitry Fedorenko, Roman Savin, Sergei Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781728187631

We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique "RRT*"for this purpose. In the proposed technique, we modified original RRT∗ introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT∗ which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments. © 2020 IEEE.

关键词： Motion planning

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Segmification: Solving road segmentation and scene classification tasks for self-driving cars using one neural network 2020

Segmification: Solving road segmentation and scene classific...

引用

3rd International Conference on Applications of Intelligent Systems, APPIS 2020

作者： Ostankovich, Vladislav Yagfarov, Rauf Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (纸本)9781450376303

In this work we show our developed model for a self-driving car that solves a road segmentation task and at the same time classifies whether the vehicle is moving in or off the lane. We demonstrate how scene classifier can be efficiently embedded into a segmentation neural network model by the means of branching additional layers with small number of trainable parameters. The model was trained and tested on our own dataset with good accuracy performance. Experiment with external dataset proves efficiency of the proposed approach and shows reasonable results in both segmenation and classification tasks. © 2020 ACM.

关键词： Autonomous vehicles

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EEG features during maintaining a human body balance.

EEG features during maintaining a human body balance.

引用

2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Khorev, Vladimir Grubov, Vadim Badarin, Artem Maksimenko, Vladimir Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781728187631

We have conducted an experiment involving keeping balance on a platform to research the perception of maintaining body posture. The objective of the present work was to characterize the common features of cortical activity during postural control. Regarding the cortical basis of performance differences during unstable conditions, EEG analysis suggest that central-frontal areas may underlie the cortical interaction including oscillations in general, maybe underlie cortical monitoring of changes in postural state of the body. The obtained results show that the neuronal activity in the β-frequency band can be utilized as the neurophysiological marker of the subject's ability to maintain the equilibrium state. © 2020 IEEE.

关键词： activity balance EEG EMG posture

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Design and control for the underwater robot with internal rotor

Design and control for the underwater robot with internal ro...

引用

2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Klekovkin, Anton V. Karavaev, Yury L. Mamaev, Ivan S. Technical University Kalashnikov Izhevsk State Department of Mechatronic Systems Izhevsk Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781665424066

This paper describes the design of the underwater robot which is moved by rotating the internal rotor. The design of the robot is described. A finite-dimensional mathematical model describing the robot's motion is presented. The study of the derived equations of motion is carried out, the influence of the parameters of the control action on the mode of the robot motion is considered. © 2021 IEEE.

关键词： Equations of motion

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Continuous learning with random memory for object detection in robotic applications

Continuous learning with random memory for object detection ...

引用

2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Nenakhov, Ivan Mazhitov, Ruslan Artemov, Kirill Zabihifar, SeyedHassan Semochkin, Aleksandr Kolyubin, Sergey ITMO University Biomechatronics and Energy-Efficient Robotics Lab St. Petersburg Russia PJSC Sberbank Sber Robotics Laboratory Moscow Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9781665424066

If the robot is to interact with environment designed for humans it has to be able to cope with new objects in it's surrounding, and not only to classify but also effectively localize objects in its reach based on visual sensing. We cannot predict all objects the robot will face. So it needs to learn them while operating, without an external update of software. One of the promising approaches to handle this task is using detectors based on convolution neural networks (CNN) with continuous learning setup. However, there is a well-known problem of catastrophic forgetting (CF) that negatively affects accuracy of neural networks, the main algorithms in object recognition nowadays. Moreover, we need to reach a trade off between training time (because it is unacceptable if the robot trains for hours) and good acccuracy of detection. In this paper we review some of the latest approaches in the field and adapt one of SOtA methods in classification task to detection task. Particularly, we adapt YOLOv5 to work in scenario with continuous learning by adding random memory mechanism from [1] and applying layer freezing in order to increase training speed. We benchmark the proposed method using iCubWorld Transformations dataset and report results with significantly improved metrics and inference speed. © 2021 IEEE.

关键词： Object detection

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Exploration of underinvestigated indoor environment based on mobile robot and mixed reality 1st

Exploration of underinvestigated indoor environment based on...

引用

1st International Conference on Human Interaction and Emerging technologies, IHIET 2019

作者： Akhmetzyanov, Aydar Yagfarov, Rauf Gafurov, Salimzhan Ostanin, Mikhail Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9783030256289

Mobile robots allow human to explore impassable or unsafe indoor locations remotely. There are a large number of scenarios where the implementation of mobile robots is the only way to successfully complete them. Herewith, human-robot interaction is the key factor that determines the efficiency of overall mission accomplishment. This paper presents a real-time approach for remote exploration of underinvestigated indoor environment conducted by human-robot interaction. The approach is based on the mobile robot and mixed reality. We have chosen a differential drive mobile robot platform called Plato and mixed reality glasses Microsoft Hololens for experimental investigation of the proposed approach. Our paper demonstrates the results of experimental investigations of the proposed approach. The results have shown that the proposed approach is helpful, intuitive and convenient for spatial understanding and improves natural interaction both with a mobile robot and remote environment. Moreover, our approach is able to significantly increase the speed of indoor environment exploration. © 2020, Springer Nature Switzerland AG.

关键词： Mobile robots

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Dynamical analysis of the neural and equilibrium seeking movement activity 4

Dynamical analysis of the neural and equilibrium seeking mov...

引用

4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Khorev, Vladimir Grubov, Vadim Badarin, Artem Kurkin, Semen Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172866

This work is devoted to the study of the process of maintaining equilibrium in an experiment with a balance platform. The conducted experiment is very original in comparison with similar experiments conducted using stabilized platforms with remote control due to the presence of active feedback from the subject. We have analyzed the effect of learning from session to session during the experiment. We observe the changes in the patterns of electrical activity of the brain that occurred at the time of equilibrium for the main EEG activity frequency ranges. © 2020 IEEE.

关键词： Remote control

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Synchronization in interacting networks of Hodgkin-Huxley neurons

Synchronization in interacting networks of Hodgkin-Huxley ne...

引用

Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Andreev, Andrey V. Maksimenko, Vladimir A. Neuroscience and Cognivite Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Universitetskaya Str. 1 Innopolis 420500 Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University A. Nevskogo ul. 14 Kaliningrad236016 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

We consider a network of networks consisting of small input neural network and four small-world subnetworks Hodgkin-Huxley neurons. Input network receives an external signal and transfers it to subnetworks via excita-tory couplings while the subnets interact with each other via inhibitory couplings. We show that the subnets are divided into 2 clusters under the influence of an inhibitory couplings between them. The synchronization indexes of subnetworks periodically change in time. We found that SIs can oscillate either in-phase or anti-phase depending on the couplings between subnetworks. © 2022 SPIE.

关键词： Complex networks

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